// -----------------------------------------------------------------------
// <copyright file="DriveFeedback.cs" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
// 
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namespace Microsoft.Robotics.Hardware.EV4
{
    using System.Runtime.Serialization;

    /// <summary>
    /// Contains state elements for GenericDriveState derived from hardware feedback.
    /// </summary>
    [DataContract]
    public class DriveFeedback
    {
        /// <summary>
        /// The distance between the wheels.
        /// </summary>
        [DataMember]
        public double WheelBase { get; set; }

        /// <summary>
        /// Gets or sets actual left drive speed in (meters/second)
        /// </summary>
        [DataMember]
        public double ActualLeftDriveSpeedInMetersPerSecond { get; set; }

        /// <summary>
        /// Gets or sets actual right drive speed in (meters/second)
        /// </summary>
        [DataMember]
        public double ActualRightDriveSpeedInMetersPerSecond { get; set; }

        /// <summary>
        /// Gets or sets current position of the right wheel
        /// </summary>
        [DataMember]
        public double RightWheelPositionInMeters { get; set; }

        /// <summary>
        /// Gets or sets current position of the left wheel
        /// </summary>
        [DataMember]
        public double LeftWheelPositionInMeters { get; set; }

        /// <summary>
        /// Gets or sets estimated odometric orientation of drive (range of 0 to 2pi).
        /// </summary>
        [DataMember]
        public double DriveHeadingEstimateInRadians { get; set; }

        /// <summary>
        /// Gets or sets absolute estimated odometric orientation of drive.
        /// Angle is not corrected to be within a specific range.
        /// </summary>
        [DataMember]
        public double AbsoluteDriveHeadingEstimateInRadians { get; set; }

        /// <summary>
        /// Gets or sets estimated x position of drive.
        /// </summary>
        [DataMember]
        public double DrivePositionXEstimateInMeters { get; set; }

        /// <summary>
        /// Gets or sets estimated y position of drive.
        /// </summary>
        [DataMember]
        public double DrivePositionYEstimateInMeters { get; set; }
    }
}
